Related papers: Mobile Robot Path Planning in Dynamic Environments…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…
Reliable real-time planning for robots is essential in today's rapidly expanding automated ecosystem. In such environments, traditional methods that plan by relaxing constraints become unreliable or slow-down for kinematically constrained…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
This 'research preview' paper introduces an adaptive path planning framework for robotic mission execution in assistive-care applications. The framework provides a graph-based environment modelling approach, with dynamic path finding…
Motion planning is critical to realize the autonomous operation of mobile robots. As the complexity and randomness of robot application scenarios increase, the planning capability of the classical hierarchical motion planners is challenged.…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…
This paper presents a novel motion and trajectory planning algorithm for nonholonomic mobile robots that uses recent advances in deep reinforcement learning. Starting from a random initial state, i.e., position, velocity and orientation,…
This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and…
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
The increasing demand for autonomous systems in complex and dynamic environments has driven significant research into intelligent path planning methodologies. For decades, graph-based search algorithms, linear programming techniques, and…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…